UCC U1-050 Universal Compliance Compensator · 2018-09-28 · The U1-050 Universal Compliance...
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Product Description The U1-050 Universal Compliance Compensator (UCC) is designed for high endurance. It provides multi- directional compliance and repeatedly returns to center by means of a pneumatic reset piston. This unique compensator allows the robot to overcome severe misalignment between the tool and workpiece. Users can tune the compliance stiffness for specific applications by varying the supply air pressure. This dynamic allows the UCC to adapt to a variety of demanding applications including: automated assembly, bin picking, loading and unloading machines, robotic finishing, and more. Product Features Universal Compliance: Patented mechanism allows simultaneous X-Y lateral, X-Y-Z rotation and Z-compression compliance. Pneumatic Reset: A pneumatically-actuated piston returns the unit to a reset position. Adjustable Stiffness: By varying pneumatic pressure to the reset piston, compliance stiffness can be tuned for each application or payload. Integrated Sensing: An optional compliance sensor can provide a position feedback signal. ISO Mounting Pattern: Compact body with ISO robot flange pattern directly mounts to most robot wrists. Reset piston Vent Spherical wear button Integrated robot mounting ISO 50 mm pattern Integrated sensor Captive M6 SHCS low-head screws Reset chamfer washers Overload/Reset pins Preload springs Tool plate ISO 50 mm pattern Z Y X UCC U1-050 Universal Compliance Compensator U1-050 Universal Compliance Compensator allows simultaneous X-Y lateral, X-Y-Z rotation and Z-compression compliance
Transcript of UCC U1-050 Universal Compliance Compensator · 2018-09-28 · The U1-050 Universal Compliance...
Product DescriptionThe U1-050 Universal Compliance Compensator (UCC) is designed for high endurance. It provides multi-directional compliance and repeatedly returns to center by means of a pneumatic reset piston. This unique compensator allows the robot to overcome severe misalignment between the tool and workpiece. Users can tune the compliance stiffness for specific applications by varying the supply air pressure. This dynamic allows the UCC to adapt to a variety of demanding applications including: automated assembly, bin picking, loading and unloading machines, robotic finishing, and more.
Product FeaturesUniversal Compliance: Patented mechanism allows simultaneous X-Y lateral, X-Y-Z rotation and Z-compression compliance.
Pneumatic Reset: A pneumatically-actuated piston returns the unit to a reset position.
Adjustable Stiffness: By varying pneumatic pressure to the reset piston, compliance stiffness can be tuned for each application or payload.
Integrated Sensing: An optional compliance sensor can provide a position feedback signal.
ISO Mounting Pattern: Compact body with ISO robot flange pattern directly mounts to most robot wrists.
Reset piston
Vent
Spherical wear button
Integrated robot mounting ISO 50 mm pattern
Integrated sensor
Captive M6 SHCS low-head screws
Reset chamfer washers
Overload/Reset pins
Preload springs
Tool plateISO 50 mm pattern
Z
Y
X
UCC U1-050Universal Compliance Compensator
U1-050 Universal Compliance Compensator allows simultaneous X-Y lateral, X-Y-Z rotation
and Z-compression compliance
© Copyright by ATI Industrial Automation, Inc. 2018. All rights reserved. 9205-15-1008-03
1031 Goodworth Drive
Apex, NC 27539 USA
+1 919.772.0115
+1 919.772.8259 fax
www.ati-ia.com
U1-050 Universal Compliance CompensatorDrawing # 9630-15-U1K-050-SB2-M-2131-L-03
Specifications Values Comments
Max Payload 5 kg (11.0 lb) See also Max Static Moment ratings.
X/Y Lateral Compliance ± 2.7 mm (0.11 in) Some axial compliance coincides. See also Note A.
X/Y Axis Rotation ± 3° See Notes A, B.
Z Axis Rotation ± 8° See Note A.
Z Axial Compression 6.1 mm (0.24 in) See Note A.
Max Static Moment X/Y 2.26 Nm (20 lbf-in) For zero deflection under 3g robot accelerations.
Max Static Moment Z 1.13 Nm (10 lbf-in) For zero deflection under 3g robot accelerations.
Spring Force Min/Max 35.6/92.1 N (8.0/20.7 lbf) Total at 0 psi supply pressure and min/max axial compliance.
Weight 0.6 kg (1.4 lb) Includes optional sensor.
Nominal Operating Pressure 5.5 bar (80 psi) Used to determine ratings.
Compliance Stiffness Tuning 2.1 bar (30 psi) max pressure See Note C.
Rated Service Life One million cycles See Note B.
Compliance Sensor PNP or NPN See Note D.
Robot Mounting ISO 50 mm BC, (4) M6 SHCS, (1) 6 mm Dowel, 31.5 mm Boss
Tool Mounting ISO 50 mm BC, (4) M6 SHCS, (1) 6 mm Dowel, 31.5 mm Recess Default “-2131” Tool plate, if included. See Note E.
Notes:A: Compliance allowed in all directions simultaneously, but max compliance cannot be reached in all directions simultaneously.B: Compliance limit for rated service life. Internal hard stops allow up to ± 8°, but reduced spring life should be expected.C: Tune compliance stiffness by varying lock pressure between 0-30 psi. Forcing compliance above 30 psi may reduce service life.D: Sensor Options: SB2 – 3 wire DC PNP with 0.25 m lead and 90° LED M8 Quick Connect / S0 - No sensor.E: Tool plate Options: 0000 – Omit ISO Tool plate/XXXX – Custom Tool plate, available upon request.
ATI reserves the right to change these specifications.
45°
BC 50
31.5 H7 6CUSTOMERINTERFACE
4X M6X1.0 7 (THRU TOOL PLATE)WITH .266 BACK-SIDE CLEARANCE
(THRU COMPLIANT PLATE)EQUALLY SPACED
CUSTOMER INTERFACE, NOTE 1
6.0606.035 6
( 6mm DOWELSLIP FIT)
CUSTOMER INTERFACE
TOOL INTERFACE
63.5 RESET& CENTERED
7
31.5 BOSSCUSTOMERINTERFACE
9.5 THREAD AVAILABLECUSTOMER INTERFACE
3 BOSS
63.5
4X M6X1.0 X 35LOW-HEAD SHCSCAPTIVE FASTENERS
TOOL PLATE
COMPLIANT PLATE SIDE VIEW
45°
BC 50
6.0606.035 8
( 6mm DOWELSLIP FIT)
CUSTOMERINTERFACE
57.5 MINCLEARANCE
"-SB2-" SENSOR OPTION NOTE 2
ROBOT INTERFACE
NOTE 3
X-Y AXIS LATERAL OFFSET
NOTE 3
Z AXIS ROTATION
NOTE 3
Z AXIS COMPRESSION
NOTE 3
X-Y AXIS ROTATION
X-AXISZ AXIS
Y AXIS
NOTES:HOLE ALSO USED FOR HEX WRENCH TO ACCESS CAPTIVE LOW-HEAD SHCS.1.PNP SENSOR WITH HARDWIRED 0.25m CABLE, TERMINATED W/ MALE 90-DEG LED M8 2.CONNECTOR. CABLE ALSO SHOWN IN FLEXED STATE FOR CLEARANCE REQUIREMENT.REFER TO ATI WEBSITE OR PRODUCT MANUAL FOR MAX COMPLIANCE VALUES.3.
